Fixed-Time Variable Gain Trajectory Tracking Control for 6-DOF Manipulators With Unknown Disturbances

Rui Li; Yi Yang; Shaomeng Gu; Xin Liu

RA-L 20250 citations

Fixed-Time Variable Gain Trajectory Tracking Control for 6-DOF Manipulators With Unknown Disturbances

Abstract

In this paper, fixed-time variable gain trajectory tracking control is designed for solving nonlinear unknown disturbance problems of 6-DOF manipulators. The designed control method comprises a fixed-time variable gain disturbance observer (FTVGDOB) and a fixed-time variable gain controller (FTVGC), which can estimate and compensate the unknown disturbance of 6-DOF manipulators actively in fixed-time. Moreover, the error-driven gains in FTVGDOB and FTVGC can be adjusted dynamically according to the change of disturbances for improving transient and steady-state performances. Finally, trajectory tracking experimental results of 6-DOF manipulators are presented to verify the effectiveness of the proposed method.

BibTeX

@inproceedings{ral2025_fixedtimevariabl,
  title = {Fixed-Time Variable Gain Trajectory Tracking Control for 6-DOF Manipulators With Unknown Disturbances},
  author = {Rui Li and Yi Yang and Shaomeng Gu and Xin Liu},
  booktitle = {RA-L 2025},
  year = {2025}
}